{"id":803,"date":"2011-01-24T01:10:39","date_gmt":"2011-01-23T14:10:39","guid":{"rendered":"http:\/\/www.madox.net\/blog\/?p=803"},"modified":"2012-01-30T23:21:36","modified_gmt":"2012-01-30T12:21:36","slug":"mecanum-wheel-rover-2","status":"publish","type":"post","link":"http:\/\/www.madox.net\/blog\/2011\/01\/24\/mecanum-wheel-rover-2\/","title":{"rendered":"Mecanum Wheel Rover 2"},"content":{"rendered":"<div>\n<figure id=\"attachment_804\" aria-describedby=\"caption-attachment-804\" style=\"width: 450px\" class=\"wp-caption aligncenter\"><a href=\"http:\/\/www.madox.net\/blog\/wp-content\/uploads\/2011\/01\/DSC03748A.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"size-medium wp-image-804\" title=\"SONY DSC\" src=\"http:\/\/www.madox.net\/blog\/wp-content\/uploads\/2011\/01\/DSC03748A-450x444.jpg\" alt=\"\" width=\"450\" height=\"444\" srcset=\"http:\/\/www.madox.net\/blog\/wp-content\/uploads\/2011\/01\/DSC03748A-450x444.jpg 450w, http:\/\/www.madox.net\/blog\/wp-content\/uploads\/2011\/01\/DSC03748A-1024x1010.jpg 1024w, http:\/\/www.madox.net\/blog\/wp-content\/uploads\/2011\/01\/DSC03748A.jpg 1800w\" sizes=\"auto, (max-width: 450px) 85vw, 450px\" \/><\/a><figcaption id=\"caption-attachment-804\" class=\"wp-caption-text\">Mecanum Wheel Rover 2 (or 1.1)... mmm floating switching regulator looks funny<\/figcaption><\/figure>\n<div>Rather than calling it a <a href=\"http:\/\/www.madox.net\/blog\/2011\/01\/19\/mecanum-wheel-rover-reprint-with-slight-improvements\/\" target=\"_blank\">reprint<\/a> of the <a href=\"http:\/\/www.madox.net\/blog\/2010\/12\/19\/mecanum-wheel-base\/\" target=\"_blank\">original<\/a>, I would like to think of this as a &#8216;MkII&#8217; improvement. \u00a0Slight modifications to the 3D models to make it easier to print as well as use more common parts. \u00a0A servo frame has been added to the Thingiverse <a href=\"http:\/\/www.thingiverse.com\/thing:5681\" target=\"_blank\">&#8216;Thing&#8217; collection<\/a> as well as frames for the batteries and Chumby\/Insignia Infocast.<\/div>\n<div>This is not really a refined product but an idea to be shared and improved upon by others. \u00a0e.g. the Chumby\/Infocast frame might be useful to others.<\/div>\n<div><!--more--><\/div>\n<h2>The parts list<\/h2>\n<div id=\"_mcePaste\">\n<ul>\n<li>16 x M2x4 Self Tapping Screws ($0.22 for 20)\n<ul>\n<li><a href=\"http:\/\/www.lowpricerc.com\/product_info.php?products_id=452\">http:\/\/www.lowpricerc.com\/product_info.php?products_id=452<\/a><\/li>\n<\/ul>\n<\/li>\n<li>10 x M2x8 Self Tapping Screws ($0.11 for 10)\n<ul>\n<li><a href=\"http:\/\/www.lowpricerc.com\/product_info.php?products_id=454\">http:\/\/www.lowpricerc.com\/product_info.php?products_id=454<\/a><\/li>\n<\/ul>\n<\/li>\n<li>28 x M3 Nuts \u00a0($1) :-\n<ul>\n<li>Your local hardware\/electronics store? \u00a0I purchased mine from Jaycar (Aus\/NZ\/UK).\n<ul>\n<li>or<\/li>\n<\/ul>\n<\/li>\n<li><a href=\"http:\/\/www.lowpricerc.com\/product_info.php?products_id=479\">http:\/\/www.lowpricerc.com\/product_info.php?products_id=479<\/a><\/li>\n<\/ul>\n<\/li>\n<li>28 x M3x25mm Bolts ($3?) :-\n<ul>\n<li>Your local hardware\/electronics store?\u00a0I purchased mine from Jaycar (Aus\/NZ\/UK).<\/li>\n<\/ul>\n<\/li>\n<li>28 x 3x6x2.5mm Bearings ($8.22 for 30):-\n<ul>\n<li><a href=\"http:\/\/www.lowpricerc.com\/product_info.php?products_id=777\">http:\/\/www.lowpricerc.com\/product_info.php?products_id=777<\/a>\u00a0<span style=\"color: #ff0000;\">[OUT OF STOCK!]<\/span><\/li>\n<li><a href=\"http:\/\/www.hobbyking.com\/hobbyking\/store\/__10269__HK_250GT_Ball_Bearing_6_x_3_x_2_5mm_4pcs_set_.html\">http:\/\/www.hobbyking.com\/hobbyking\/store\/__10269__HK_250GT_Ball_Bearing_6_x_3_x_2_5mm_4pcs_set_.html<\/a>\u00a0<span style=\"color: #ff0000;\">[New alternative, $8.89 for 28 if you sit on the page for a while for it to drop down $0.10 in price for each pack of 4]<\/span><\/li>\n<\/ul>\n<\/li>\n<li>4 x Continuous rotation servos ($13.6 for 4)\n<ul>\n<li><a href=\"http:\/\/www.lowpricerc.com\/product_info.php?products_id=745\" target=\"_blank\">http:\/\/www.lowpricerc.com\/product_info.php?products_id=745<\/a><\/li>\n<\/ul>\n<\/li>\n<li>1 x Pololu 6 Servo USB Controller ($19):-\n<ul>\n<li><a href=\"http:\/\/www.robotsimple.com\/Servo_Controller\/Micro_Maestro_6_Ch_USB_Servo_Controller_Assembled\">http:\/\/www.robotsimple.com\/Servo_Controller\/Micro_Maestro_6_Ch_USB_Servo_Controller_Assembled<\/a><\/li>\n<\/ul>\n<\/li>\n<li>1 x Insignia Infocast 3.5&#8243; \/ Chumby One \/ Chumby Hacker Board (39.95? 69.96? 89.96? 119.95? Changes&#8230;):-\n<ul>\n<li><a href=\"http:\/\/www.chumby.com\/pages\/infocast\" target=\"_blank\">http:\/\/www.chumby.com\/pages\/infocast<\/a><\/li>\n<li><a href=\"https:\/\/store.chumby.com\/\">https:\/\/store.chumby.com\/<\/a><\/li>\n<li><a href=\"www.adafruit.com\/index.php?main_page=product_info&amp;products_id=278\" target=\"_blank\">www.adafruit.com\/index.php?main_page=product_info&amp;products_id=278<\/a><\/li>\n<\/ul>\n<\/li>\n<li>1 x 5V Converter\n<ul>\n<li><a href=\"http:\/\/www.satistronics.com\/lm2596-dcdc-step-down-adjustable-power-supply-module_p2775.html\">http:\/\/www.satistronics.com\/lm2596-dcdc-step-down-adjustable-power-supply-module_p2775.html<\/a>\n<ul>\n<li>This is if you&#8217;re using the Infocast, you could use the C1\/CHB with a Lithium Ion battery&#8230;<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n<li>Batteries&#8230;<\/li>\n<li>1 x Set of 3D Printed Parts (&lt;$15?)\n<ul>\n<li>56 x 3D Printed &#8220;Rollers&#8221;<\/li>\n<li>2 x 3D Printed &#8220;Left-handed&#8221; Hubs<\/li>\n<li>2 x 3D Printed &#8220;Right-handed&#8221; Hubs<\/li>\n<li>Download the set from\u00a0<a href=\"http:\/\/www.thingiverse.com\/thing:5681\">http:\/\/www.thingiverse.com\/thing:5681<\/a>, some printing tips might be found here too.<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/div>\n<figure id=\"attachment_805\" aria-describedby=\"caption-attachment-805\" style=\"width: 450px\" class=\"wp-caption aligncenter\"><a href=\"http:\/\/www.madox.net\/blog\/wp-content\/uploads\/2011\/01\/DSC03741A.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"size-medium wp-image-805\" title=\"SONY DSC\" src=\"http:\/\/www.madox.net\/blog\/wp-content\/uploads\/2011\/01\/DSC03741A-450x325.jpg\" alt=\"\" width=\"450\" height=\"325\" srcset=\"http:\/\/www.madox.net\/blog\/wp-content\/uploads\/2011\/01\/DSC03741A-450x325.jpg 450w, http:\/\/www.madox.net\/blog\/wp-content\/uploads\/2011\/01\/DSC03741A-1024x739.jpg 1024w, http:\/\/www.madox.net\/blog\/wp-content\/uploads\/2011\/01\/DSC03741A.jpg 1800w\" sizes=\"auto, (max-width: 450px) 85vw, 450px\" \/><\/a><figcaption id=\"caption-attachment-805\" class=\"wp-caption-text\">A sample of the little bits and pieces<\/figcaption><\/figure>\n<h2>Assembly Instructions<\/h2>\n<ol>\n<ol>\n<li>For each wheel, attach the circular servo horn that comes with the servo with the hub using 4 M2x4 self tapping screws. \u00a0Take care to hold the servo horn tightly to the hub while screwing.<\/li>\n<li>For each wheel, insert 7 bearings into the &#8216;flanges&#8217; of the wheel.\n<ul>\n<li>Depending on your printer, this should be a tight fit. \u00a0If it doesn&#8217;t fit, gently file the inside of the hole or using a M6 drill bit to clear. \u00a0I recommend using the file to keep the tight fit.<\/li>\n<\/ul>\n<\/li>\n<li>Attach the rollers onto each wheel with a M3 bolt and nut combination.\n<ul>\n<li>Again depending on your printer, the bolts should fit through (maybe a bit tight). \u00a0If they don&#8217;t fit use a M3 drill bit to clear the roller holes.<\/li>\n<\/ul>\n<\/li>\n<li>Attach each assembled wheel onto the servo. \u00a0Remember to install the horn screw!<\/li>\n<li>Calibrate the centre position of the servos using the small adjustment pot at the rear of the servo.\n<ul>\n<li>Send a centre 1.5ms signal to each servo and adjust the pot until the servo doesn&#8217;t move.<\/li>\n<\/ul>\n<\/li>\n<li>Attach each servo onto a frame using the mounting screws that come with the servo. \u00a0Note the orientation of the wheels! \u00a0An extract out of MWRover.js shows not only my horrible ASCII art skills but how you should attach the wheels.<\/li>\n<\/ol>\n<\/ol>\n<pre>MWRover Axes\r\n         F\r\n       _____\r\n   [\\]|2   1|[\/]\r\nL     |     |      R\r\n   [\/]|3___0|[\\]\r\n\r\n         B<\/pre>\n<ol>\n<li>Connect each servo to the USB Servo controller as per the numbering above. \u00a0e.g. Wheel &#8216;1&#8217; goes to channel 1.<\/li>\n<li>Mount the battery holder frame and chumby holder frame to the servo frame using M2x8 self tapping screws.\n<ul>\n<li>Note :\u00a0<em>The servo frame has numerous mounting points for you to mount to, and you could mount other components if you wish. \u00a0Use a 1.6mm diameter hole, and an optional 4mm diameter x 2mm deep recess for the mating component.<\/em><\/li>\n<\/ul>\n<\/li>\n<li>Connect the electronics and load the software! [Hope you can figure it out, if not ask away!]\n<ul>\n<li>Its slightly different depending on the electronics you use. \u00a0For the C1 I connected a second USB Connector on the empty footprint, for the Infocast you see above I soldered a Mini-USB cable directly to the breakouts, for the Chumby Hacker Board I suspect you can do the same. \u00a0WiFi Dongle pointing up for max range!<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n<\/div>\n<h2>Software<\/h2>\n<p>Full source code is available for download from :-<\/p>\n<p><a href=\"http:\/\/code.google.com\/p\/madox\/source\/browse\/#svn%2Ftrunk%2FMWRover\">http:\/\/code.google.com\/p\/madox\/source\/browse\/#svn%2Ftrunk%2FMWRover<\/a><\/p>\n<p>Android accelerometer\/magnetometer control might be coming soon&#8230;<\/p>\n<p>Edit : Typed this up for someone else so might as well paste it here :-<\/p>\n<ul>\n<li>Copy the MWRover directory onto the \/mnt\/storage partition of the Chumby\/Infocast. \u00a0If copying directly to the SD card, this is probably the largest partition on the card.<\/li>\n<li>Power on the Chumby\/Infocast, and run the shell script install.sh. \u00a0You can run the command via serial terminal or SSH. \u00a0Power cycle the Chumby\/Infocast.<\/li>\n<li><span style=\"font-family: arial, sans-serif; line-height: normal; border-collapse: collapse;\">Once it boots up, it should start up a WiFi access point called MWRover. \u00a0Connect to it using your Android Phone or even your PC.<\/span><\/li>\n<li><span style=\"font-family: arial, sans-serif; line-height: normal; border-collapse: collapse;\">Once you&#8217;re connected, open your browser and point it to\u00a0<a style=\"color: #0000cc;\" href=\"http:\/\/10.10.10.10:8080\/MWRover.html\" target=\"_blank\">http:\/\/10.10.10.10:8080\/MWRover.html<\/a> [Sorry about this long address&#8230;forgot to make it something sensible&#8230; so bookmark it if you need].<\/span><\/li>\n<li><span style=\"font-family: arial, sans-serif; line-height: normal; border-collapse: collapse;\">You should get a page where there&#8217;s a blue top bar, and a blue bottom bar.<\/span>\n<ul>\n<li><span style=\"font-family: arial, sans-serif; line-height: normal; border-collapse: collapse;\">Touch and drag anywhere in the middle black area moves the rover. \u00a0Let go to stop the movement.<\/span><\/li>\n<li><span style=\"font-family: arial, sans-serif; line-height: normal; border-collapse: collapse;\">Touch and drag in the top blue bar left\/right to rotate the rover.<\/span><\/li>\n<\/ul>\n<\/li>\n<li><span style=\"font-family: arial, sans-serif; line-height: normal; border-collapse: collapse;\">No software install required on Android\/PC\/iPhone, its all browser based.<\/span><\/li>\n<\/ul>\n<h2>Videos<\/h2>\n<p style=\"text-align: left;\">Test video of the new Rover&#8230;first 135 seconds is me figuring out what was wrong&#8230;<\/p>\n<p style=\"text-align: center;\"><object width=\"425\" height=\"350\" classid=\"clsid:d27cdb6e-ae6d-11cf-96b8-444553540000\" codebase=\"http:\/\/download.macromedia.com\/pub\/shockwave\/cabs\/flash\/swflash.cab#version=6,0,40,0\"><param name=\"src\" value=\"http:\/\/www.youtube.com\/v\/iSnTZzrXocM\" \/><embed width=\"425\" height=\"350\" type=\"application\/x-shockwave-flash\" src=\"http:\/\/www.youtube.com\/v\/iSnTZzrXocM\" \/><\/object><\/p>\n<p style=\"text-align: left;\">Video of the first rover&#8230;software is the same except a &#8216;-&#8216; sign moved \ud83d\ude42<\/p>\n<p style=\"text-align: center;\"><object width=\"425\" height=\"350\" classid=\"clsid:d27cdb6e-ae6d-11cf-96b8-444553540000\" codebase=\"http:\/\/download.macromedia.com\/pub\/shockwave\/cabs\/flash\/swflash.cab#version=6,0,40,0\"><param name=\"src\" value=\"http:\/\/www.youtube.com\/v\/cB-6qN8dbVQ\" \/><embed width=\"425\" height=\"350\" type=\"application\/x-shockwave-flash\" src=\"http:\/\/www.youtube.com\/v\/cB-6qN8dbVQ\" \/><\/object><\/p>\n<p style=\"text-align: center;\">\n","protected":false},"excerpt":{"rendered":"<p>Rather than calling it a reprint of the original, I would like to think of this as a &#8216;MkII&#8217; improvement. \u00a0Slight modifications to the 3D models to make it easier to print as well as use more common parts. \u00a0A servo frame has been added to the Thingiverse &#8216;Thing&#8217; collection as well as frames for &hellip; <a href=\"http:\/\/www.madox.net\/blog\/2011\/01\/24\/mecanum-wheel-rover-2\/\" class=\"more-link\">Continue reading<span class=\"screen-reader-text\"> &#8220;Mecanum Wheel Rover 2&#8221;<\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[7,22],"tags":[54,52,9,51],"class_list":["post-803","post","type-post","status-publish","format-standard","hentry","category-3d-printing","category-microcontrollers","tag-3d-printing","tag-mecanum","tag-perverted-engineering","tag-up"],"_links":{"self":[{"href":"http:\/\/www.madox.net\/blog\/wp-json\/wp\/v2\/posts\/803","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/www.madox.net\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/www.madox.net\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/www.madox.net\/blog\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/www.madox.net\/blog\/wp-json\/wp\/v2\/comments?post=803"}],"version-history":[{"count":6,"href":"http:\/\/www.madox.net\/blog\/wp-json\/wp\/v2\/posts\/803\/revisions"}],"predecessor-version":[{"id":807,"href":"http:\/\/www.madox.net\/blog\/wp-json\/wp\/v2\/posts\/803\/revisions\/807"}],"wp:attachment":[{"href":"http:\/\/www.madox.net\/blog\/wp-json\/wp\/v2\/media?parent=803"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/www.madox.net\/blog\/wp-json\/wp\/v2\/categories?post=803"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/www.madox.net\/blog\/wp-json\/wp\/v2\/tags?post=803"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}